The in-flight particle separation capability of intermediate-energy radioactive ion (RI) beams produced at a fragment separator can be improved with the Cherenkov light detection technique. The cone angle of Cherenkov light emission varies as a function of beam velocity. This can be exploited as a velocity selector for secondary beams. Using heavy ion beams available at the HIMAC synchrotron facility, the Cherenkov light angular distribution was measured for several thin radiators with high refractive indices (n=1.9~2.1n=1.9~2.1). A velocity resolution of ~10 super(-3) was achieved for a super(56)Fe beam with an energy of 500 MeV/nucleon. Combined with the conventional rigidity selection technique coupled with energy-loss analysis, the present method will enable the efficient selection of an exotic species from huge amounts of various nuclides, such as uranium fission products at the BigRIPS fragment separator located at the RI Beam Factory.